What is the difference among the "ipol", "servo", and "refma" tasks in the ABB IRC5 controller?

vweisis

Hi everyone,

What is the difference among the "ipol", "servo", and "refma" tasks in the ABB IRC5 controller?

Thanks!

xerim

This is my best guess:

ipol: internal task that deals with path interpolation

servo: internal task that deals with control of external kinematics

refma: no clue